CN109813323A - Adaptive Path air navigation aid/system, computer readable storage medium and terminal - Google Patents
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Abstract
The present invention provides a kind of Adaptive Path air navigation aid/system, computer readable storage medium and terminal, and the Adaptive Path air navigation aid includes: the initial best guidance path planned between departure place and destination；Search for the node in the initial best guidance path preset range, and it is every by a node when, detect whether the node is easy yaw node；If so, searching and marking the optimal sub- section of the easy yaw node to the destination；If it is not, continuing to navigate according to initial best guidance path；It wherein, is a sub- section between two node.Adaptive Path air navigation aid of the present invention/system, computer readable storage medium and terminal does not need to carry out any calculation road can to start to navigate, and greatly reduces network transmission expense and cpu computing cost.
Description
Technical field
The invention belongs to field of navigation technology, are related to a kind of air navigation aid/system, more particularly to a kind of Adaptive Path
Air navigation aid/system, computer readable storage medium and terminal.
Background technique
With the appearance of portable electronic device, navigation system now to worldwide many users more commonly.It is transporting
It when being sent to specific destination, can be used portable electronic device (" client device "), such as mobile phone, PDA and above-knee
Type/palmtop computer.Navigation server is typically received from client device to the request of the route guiding to destination, logical
It crosses and routing algorithm is applied to map datum to generate route and the route is then supplied to client device.Visitor
Map datum and routing algorithm can also be locally stored in family end equipment, them is allowed not have to the help of navigation server
In the case of generate route.
But traditional navigation routine structure is all linear structure, is formed by road chain one by one is successively end to end, and
There are a significant deficiencies for this linear structure, once being exactly that user's vehicle deviates navigation routine, the data in course line will be lost completely
Effect, terminal just need to plan navigation routine again.
Therefore, how a kind of Adaptive Path air navigation aid/system, computer readable storage medium and terminal is provided, with
Solve the linear structure of navigation routine planned of the prior art, and this linear structure is there are significant deficiency, once user's vehicle
Deviate navigation routine, course data failure need to plan guidance path again, lead to increase network transmission expense and CPU calculating
The defects of expense, has become those skilled in the art's technical problem urgently to be resolved in fact.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of Adaptive Path navigation sides
Method/system, computer readable storage medium and terminal, the navigation routine for solving to be planned in the prior art are linearly tied
Structure, and there are significant deficiencies for this linear structure, once user's vehicle deviates navigation routine, course data failure need to advise again
Guidance path is drawn, the problem of increasing network transmission expense and CPU computing cost is caused.
In order to achieve the above objects and other related objects, one aspect of the present invention provides a kind of Adaptive Path air navigation aid,
It include: the initial best guidance path planned between departure place and destination；Search for the predetermined model of the initial best guidance path
Interior node is enclosed, and when one node of every process, detects whether the node is easy yaw node；If so, searching and marking this easily
Yaw the optimal sub- section of node to the destination；If it is not, continuing to navigate according to initial best guidance path；Wherein, described
It is a sub- section between two nodes.
In one embodiment of the invention, the preset range refers to that initial best guidance path described in vertical range is less than
The range formed equal to all nodes of pre-determined distance threshold value.
In one embodiment of the invention, the step of the node in initial best guidance path preset range described in described search
It suddenly include: the vertical range of initial best guidance path described in each nodal distance in the measuring and calculating preset range；Judge that this hangs down
Whether straight distance is more than pre-determined distance threshold value, if so, abandoning vertical range is greater than the corresponding node of pre-determined distance threshold value；If
It is no, then retain vertical range less than or equal to the corresponding node of pre-determined distance threshold value, and detect whether the node is easy yaw node.
In one embodiment of the invention, judge the node whether be yaw node before, the Adaptive Path is led
Boat method further includes the steps that detecting with the presence or absence of bifurcated section on the node, which is prolonged by statistics using the node as starting point
Section is stretched out whether more than one, if so, indicating that the node is that there are the nodes in bifurcated section；If not, then it represents that the node
For there is no the nodes in bifurcated section.,
In one embodiment of the invention, detection there are bifurcated section each on the node in bifurcated section and it is described it is initial most
Whether the bifurcated angle of good guidance path is less than default judgement angle, if so, indicating that the node is easy yaw node, and should
All sub- sections easily on yaw node mark on the node of the best guidance path, with formed departure place and destination it
Between route structure.
In one embodiment of the invention, the lookup and the optimal son for marking the easy yaw node to the destination
The step of section includes: all sub- sections searched on the easy yaw node；According to sub- section attribute, all sub- sections are carried out
Integrate-cost evaluation；It sorts and takes out the smallest sub- section of cost, and the sub- section is labeled as optimal sub- section, and record should
The identification code in optimal sub- section.
In one embodiment of the invention, the sub- section attribute includes sub- section with a distance from the destination, sub- road
Road type, traffic information and/or the safety coefficient of section.
Another aspect of the present invention provides a kind of Adaptive Path navigation system, comprising: planning module, for planning departure place
Initial best guidance path between destination；Search module, for searching for the initial best guidance path preset range
Interior node, detection module when for one node of every process, detect whether the node is easy yaw node；If so, searching and marking
Remember the easy optimal sub- section for yawing node to the destination out；If it is not, navigation module continues according to initial best navigation road
Diameter navigation；It wherein, is a sub- section between two node.
Another aspect of the invention provides a kind of computer readable storage medium, is stored thereon with computer program, the program
The Adaptive Path air navigation aid is realized when being executed by processor.
Last aspect of the present invention provides a kind of terminal, comprising: processor and memory；The memory is based on storing
Calculation machine program, the processor is used to execute the computer program of the memory storage, so that terminal execution is described certainly
Adapt to method for path navigation.
As described above, Adaptive Path air navigation aid/system, computer readable storage medium and terminal of the invention, tool
Have following
The utility model has the advantages that
The air navigation aid of Adaptive Path described in the present embodiment of the present invention/system, computer readable storage medium and terminal
The guidance path that can be cooked up is the netted no ring structure of a shuttle shape, and all directional and optimal sub- section in every strip section belongs to
Property, current course line is exactly that all optimal sub- sections successively link, even if user deviates original navigation path, remaining on can
With another section being matched in Route Network, so that new optimal sub- section road chain is obtained at once, completely without progress
Any calculation road can start to navigate, and greatly reduce network transmission expense and cpu computing cost.
Detailed description of the invention
Figure 1A is shown as one implementation process diagram of Adaptive Path air navigation aid of the invention.
Figure 1B is shown as the flow diagram of S12 in Adaptive Path air navigation aid of the invention.
Fig. 1 C is shown as the flow diagram of S15 in Adaptive Path air navigation aid of the invention.
Fig. 2 is shown as the embodiment schematic diagram of guidance path.
Fig. 3 is shown as the theory structure schematic diagram of Adaptive Path navigation system of the invention in an embodiment.
Component label instructions
3 Adaptive Path navigation system
31 planning modules
32 search modules
33 detection modules
34 navigation modules
S11~S16 step
S121~S124 step
S151~S153 step
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification
Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities
The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from
Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation
Feature in example can be combined with each other.
It should be noted that illustrating the basic structure that only the invention is illustrated in a schematic way provided in following embodiment
Think, only shown in schema then with related component in the present invention rather than component count, shape and size when according to actual implementation
Draw, when actual implementation kenel, quantity and the ratio of each component can arbitrarily change for one kind, and its assembly layout kenel
It is likely more complexity.
Embodiment one
The present embodiment provides a kind of Adaptive Path air navigation aids, comprising:
Plan the initial best guidance path between departure place and destination；
The node in the initial best guidance path preset range is searched for, and when one node of every process, detects the node
It whether is easy yaw node；
If so, searching and marking the optimal sub- section of the easy yaw node to the destination；
If it is not, continuing to navigate according to initial best guidance path；It wherein, is a sub- section between two node.
Adaptive Path air navigation aid provided by the present embodiment is described in detail below with reference to diagram.This implementation
Adaptive Path air navigation aid described in example can be applied to car-mounted terminal, can be used for service terminal.If being applied to the vehicle
Mounted terminal, the car-mounted terminal obtains best guidance path by operation Adaptive Path air navigation aid, with the user's vehicle that navigates.
If being applied to the service terminal, the service terminal obtains best navigation road from using method for path navigation by the way that operation is described
Diameter, by the best guidance path by network transmission to car-mounted terminal.
Referring to Fig. 1, being shown as one implementation process diagram of Adaptive Path air navigation aid.As shown in Figure 1A, it is described from
It adapts to method for path navigation and specifically includes following steps:
S11 plans the initial best guidance path between departure place and destination.In the present embodiment, it is defeated to receive user
The departure place and destination entered, according to for example, least congestion path, safest path, the shortest path of route, when driving
Between the various demands in least path etc. initial best guidance path is planned between the departure place and destination.In this implementation
In example, the S11 further includes being marked the sub- section for forming the initial best guidance path, and record the sub- section
Identification code.
Referring to Fig. 2, being shown as the embodiment schematic diagram of guidance path.As shown in Fig. 2, departure place be A, destination B,
Initial best guidance path is made of 6 cross-talk sections, i.e. A-P1, P1-P2, P2-P3, P3-P4, P4-P5, P5-B.
S12 searches for the node in the initial best guidance path preset range.In the present embodiment, the predetermined model
It encloses and refers to that initial best guidance path described in vertical range is less than or equal to the range that all nodes of pre-determined distance threshold value form.
Figure 1B is please referred to, the flow diagram of S12 is shown as.As shown in Figure 1B, the S12 is specifically included:
S121 calculates the vertical range of initial best guidance path described in each nodal distance in the preset range.Such as
It include P1, P2, P3, P4, P5, P6, P7, P8,8 nodes in the preset range of initial best guidance path shown in Fig. 2.Its
In, node P1, P2, P3, P4, P5 are located on initial best guidance path.Node P6, P7, P8 are included in initial best navigation
On path, node P6 is calculated, P7, P8 are to the vertical range of initial best guidance path.
S122 judges whether the vertical range is more than pre-determined distance threshold value, if so, executing S123, abandons vertical range
Node corresponding greater than pre-determined distance threshold value；If it is not, then executing S124, retains vertical range and be less than or equal to pre-determined distance threshold value pair
The node answered, and it is transferred to step S13.
For example, judging P6, whether the vertical range of the initial best guidance path of P7, P8 distance is more than pre-determined distance threshold value.
In the present embodiment, search radius is excessive in order to prevent, directly abandon be more than apart from original navigation path it is default away from
Node from threshold value.
S13 is detected on the node with the presence or absence of bifurcated section.
Specifically, whether statistics extends section more than one using the node by starting point, if so, indicating that the node is
There are the nodes in bifurcated section, continue to execute S14；If not, then it represents that the node is to continue to hold there is no the node in bifurcated section
Row S16.
For example, there are 2 bifurcated sections on node P2, there are two bifurcated sections on node P4, there are two on node P8
Bifurcated section.
S14, it is every by a node when, detect whether the node is easy yaw node；If so, S15 is executed, if it is not, then
Execute S16.
Specifically, there are points in bifurcated section each on the node in bifurcated section and the initial best guidance path for detection
Whether fork angle is less than default judgement angle, if so, indicating that the node is easy yaw node, and will be on the easy yaw node
All sub- section labels are on the node of the best guidance path, to form the route structure between departure place and destination.
In the present embodiment, the default judgement angle is 30 degree.
Referring to Fig.2, for example, P2 point there are there are bifurcated section a1 and a2, P7 points on a, P2-P3, the P6 node of bifurcated section
On there are bifurcated section b1, b2.Node P2, P4, P6, P7 is easily to yaw node.
S15, if detecting, the node is easily to yaw node, searches and mark the easy yaw node to the destination
Optimal sub- section.
Fig. 1 C is please referred to, the flow diagram of S15 is shown as.As shown in Figure 1 C, the S15 includes:
S151 searches all sub- sections on the easy yaw node；
S152 carries out integrate-cost evaluation to all sub- sections according to sub- section attribute.In the present embodiment, the son
Section attribute includes sub- section with a distance from the destination, the road type in sub- section, traffic information and/or safety coefficient.
S153 sorts and takes out the smallest sub- section of cost, and the sub- section is labeled as optimal sub- section, and record should
The identification code in optimal sub- section.
For example, vehicle is gone to the wrong way in easily yaw node P2 point, drives into section a and reach easily yaw node P6, easily yaw node P6
There are bifurcated section a1 and a2, according to sub- section attribute, such as sub- section a1 is most short with a distance from the B of destination evaluates, a1
Section is the optimal sub- section for arriving at the destination B and returning initial best guidance path.In the present embodiment, optimal sub- road is obtained
Duan Hou, without planning guidance path again.
For example, vehicle is gone to the wrong way in easily yaw node P4 point, input section b reaches easily yaw node P7, easily yaw node
P7 is there are bifurcated section b1 and b2, and according to sub- section attribute, such as sub- section b2 is most short with a distance from the B of destination evaluates, b2
Sub- section is the optimal sub- section for arriving at the destination B and returning initial best guidance path.
S16, if it is not, continuing to navigate according to initial best guidance path.
The present embodiment also provides a kind of computer readable storage medium, is stored thereon with computer program, which is located
Reason device realizes above-mentioned Adaptive Path air navigation aid when executing.Those of ordinary skill in the art will appreciate that: realize above-mentioned each side
The all or part of the steps of method embodiment can be completed by the relevant hardware of computer program.Computer program above-mentioned can
To be stored in a computer readable storage medium.When being executed, execution includes the steps that above-mentioned each method embodiment to the program；
And storage medium above-mentioned includes: the various media that can store program code such as ROM, RAM, magnetic or disk.
The guidance path that Adaptive Path air navigation aid can be cooked up described in the present embodiment is the netted nothing of shuttle shape
Ring structure, all directional and optimal sub- section attribute in every strip section, current course line be exactly all optimal sub- sections successively
It links, even if user deviates original navigation path, remains on another section that can be matched in Route Network, thus
New optimal sub- section road chain is obtained at once, can start to navigate completely without any calculation road is carried out, greatly reduce network
Transport overhead and cpu computing cost.
Embodiment two
The present embodiment provides a kind of Adaptive Path navigation system, comprising:
Planning module, for planning the initial best guidance path between departure place and destination；
Search module, the node for searching in the initial best guidance path preset range,
Detection module when for one node of every process, detects whether the node is easy yaw node；If so, searching and marking
Remember the easy optimal sub- section for yawing node to the destination out；If it is not, navigation module continues according to initial best navigation road
Diameter navigation；It wherein, is a sub- section between two node.
Adaptive Path navigation system provided by the present embodiment is described in detail below with reference to diagram.It needs
Bright is, it should be understood that the division of the modules of the above navigation system is only a kind of division of logic function, in actual implementation
It can completely or partially be integrated on a physical entity, it can also be physically separate.And these modules can be all with software
It is realized by way of processing element calls；It can also all realize in the form of hardware；Processing can be passed through with part of module
The form of element calling software realizes that part of module passes through formal implementation of hardware.For example, x module can individually be set up
Processing element also can integrate and realize in some chip of above-mentioned apparatus, in addition it is also possible to be deposited in the form of program code
It is stored in the memory of above-mentioned apparatus, is called by some processing element of above-mentioned apparatus and executed the function of the above x module.Its
The realization of its module is similar therewith.Furthermore these modules completely or partially can integrate together, can also independently realize.Here
The processing element can be a kind of integrated circuit, the processing capacity with signal.During realization, the above method it is each
Step or the above modules can pass through the integrated logic circuit of the hardware in processor elements or the instruction of software form
It completes.
For example, the above module can be arranged to implement one or more integrated circuits of above method, such as:
One or more specific integrated circuits (ApplicationSpecificIntegratedCircuit, abbreviation ASIC), or, one
Or multi-microprocessor (digitalsingnalprocessor, abbreviation DSP), or, one or more field-programmable gate array
Arrange (FieldProgrammableGateArray, abbreviation FPGA) etc..For another example, when some above module is dispatched by processing element
When the form of program code is realized, which can be general processor, such as central processing unit
(CentralProcessingUnit, abbreviation CPU) or it is other can be with the processor of caller code.For another example, these modules can
To integrate, realized in the form of system on chip (system-on-a-chip, abbreviation SOC).
Referring to Fig. 3, being shown as theory structure schematic diagram of the Adaptive Path navigation system in an embodiment.Such as Fig. 3
Shown, the Adaptive Path navigation system 3 includes: planning module 31, search module 32, detection module 33 and navigation module
34。
The planning module 31 is used to plan the initial best guidance path between departure place and destination.In the present embodiment
In, receive the departure place and destination of user's input, according to for example, least congestion path, safest path, route is most short
Path, the various demands in least path of running time etc. plan initial best navigation between the departure place and destination
Path.In the present embodiment, the planning module 31 is also used to form the sub- section label of the initial best guidance path
Out, and the identification code in the sub- section is recorded.
The search module 32 coupled with the planning module 31 is for searching for the initial best guidance path preset range
Interior node.In the present embodiment, the preset range refers to that initial best guidance path described in vertical range is less than or equal to pre-
If the range that all nodes of distance threshold form.
Described search module 32 is specifically used for calculating in the preset range initial best navigation described in each nodal distance
The vertical range in path；Judge whether the vertical range is more than pre-determined distance threshold value, is preset if so, abandoning vertical range and being greater than
The corresponding node of distance threshold；If it is not, then retaining vertical range less than or equal to the corresponding node of pre-determined distance threshold value, and detecting should
Whether node is easy yaw node.
In the present embodiment, search radius is excessive in order to prevent, directly abandon be more than apart from original navigation path it is default away from
Node from threshold value.
The detection module 33 coupled with described search module 32 is for detecting on the node with the presence or absence of bifurcated section.
Specifically, whether the detection module 33 extends section more than one for counting using the node by starting point,
If so, indicating that the node is that there are the nodes in bifurcated section；If not, then it represents that the node is that there is no the sections in bifurcated section
Point.
When the detection module 33 is also used to one node of every process, detect whether the node is easy yaw node；If so,
Look for and mark the optimal sub- section of the easy yaw node to the destination.If it is not, then call navigation module 34 continue according to
Initial best guidance path navigation.
Specifically, there are points in bifurcated section each on the node in bifurcated section and the initial best guidance path for detection
Whether fork angle is less than default judgement angle, if so, indicating that the node is easy yaw node, and will be on the easy yaw node
All sub- section labels are on the node of the best guidance path, to form the route structure between departure place and destination.
In the present embodiment, the default judgement angle is 30 degree.
The detection module 33 is also used to search all sub- sections on the easy yaw node；It is right according to sub- section attribute
All sub- sections carry out integrate-cost evaluation, sort and take out the smallest sub- section of cost, and by the sub- section labeled as optimal
Sub- section, and record the identification code in the optimal sub- section.In the present embodiment, the sub- section attribute includes sub- section from described
The distance of destination, the road type in sub- section, traffic information and/or safety coefficient.
Embodiment three
A kind of terminal provided in this embodiment, comprising: processor, memory, transceiver, communication interface and system bus；
Memory and communication interface connect with processor and transceiver by system bus and complete mutual communication, and memory is used for
Computer program is stored, communication interface is used for and other equipment are communicated, and processor and transceiver are for running computer journey
Sequence makes terminal execute each step of Adaptive Path air navigation aid as above.
System bus mentioned above can be Peripheral Component Interconnect standard
(PeripheralPomponentInterconnect, abbreviation PCI) bus or expanding the industrial standard structure
(ExtendedIndustryStandardArchitecture, abbreviation EISA) bus etc..The system bus can be divided into address
Bus, data/address bus, control bus etc..Only to be indicated with a thick line in figure convenient for indicating, it is not intended that only one total
Line or a type of bus.Communication interface is for realizing database access device and other equipment (such as client, read-write library
And read-only library) between communication.Memory may include random access memory (RandomAccessMemory, abbreviation RAM),
It may also further include nonvolatile memory (non-volatilememory), a for example, at least magnetic disk storage.
Above-mentioned processor can be general processor, including central processing unit (CentralProcessingUnit, letter
Claim CPU), network processing unit (NetworkProcessor, abbreviation NP) etc.；It can also be digital signal processor
(DigitalSignalProcessing, abbreviation DSP), specific integrated circuit
(ApplicationSpecificIntegratedCircuit, abbreviation ASIC), field programmable gate array (Field-
ProgrammableGateArray, abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic
In conclusion the air navigation aid of Adaptive Path described in the present embodiment of the present invention/system, computer-readable storage medium
The guidance path that matter and terminal can be cooked up is the netted no ring structure of a shuttle shape, and every strip section is all directional and optimal
Sub- section attribute, current course line is exactly that all optimal sub- sections successively link, even if user deviates original navigation path,
Another section that can be matched in Route Network is remained on, to obtain new optimal sub- section road chain at once, completely not
Needing to carry out any calculation road can start to navigate, and greatly reduce network transmission expense and cpu computing cost.So the present invention
It effectively overcomes various shortcoming in the prior art and has high industrial utilization value.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should be covered by the claims of the present invention.
Claims (10)
1. a kind of Adaptive Path air navigation aid characterized by comprising
Plan the initial best guidance path between departure place and destination；
The node in the initial best guidance path preset range is searched for, and when one node of every process, whether detects the node
Easily to yaw node；
If so, searching and marking the optimal sub- section of the easy yaw node to the destination；
If it is not, continuing to navigate according to initial best guidance path；It wherein, is a sub- section between two node.
2. Adaptive Path air navigation aid according to claim 1, which is characterized in that the preset range refer to vertically away from
It is less than or equal to the range that all nodes of pre-determined distance threshold value form from the initial best guidance path.
3. Adaptive Path air navigation aid according to claim 2, which is characterized in that initially most preferably led described in described search
The step of node in bit path preset range includes:
Calculate the vertical range of initial best guidance path described in each nodal distance in the preset range；
Judge whether the vertical range is more than pre-determined distance threshold value, if so, abandoning vertical range is greater than pre-determined distance threshold value pair
The node answered；If it is not, then retain vertical range less than or equal to the corresponding node of pre-determined distance threshold value, and detect the node whether be
Easily yaw node.
4. Adaptive Path air navigation aid according to claim 1, which is characterized in that judging whether the node is yaw
Before node, the Adaptive Path air navigation aid further includes the steps that detecting on the node with the presence or absence of bifurcated section, the step
It is rapid that whether section is extended more than one by starting point with the node for statistics, if so, indicating that the node is that there are bifurcated roads
The node of section；If not, then it represents that the node is that there is no the nodes in bifurcated section.
5. Adaptive Path air navigation aid according to claim 4, which is characterized in that there are the nodes in bifurcated section for detection
Whether the bifurcated angle of upper each bifurcated section and the initial best guidance path, which is less than to preset, determines angle, if so, table
Show that the node is easily to yaw node, and all sub- sections on the easy yaw node are marked the section in the best guidance path
On point, to form the route structure between departure place and destination.
6. Adaptive Path air navigation aid according to claim 5, which is characterized in that it is described lookup and mark this easily it is inclined
Boat node to the destination optimal sub- section the step of include:
Search all sub- sections on the easy yaw node；
According to sub- section attribute, integrate-cost evaluation is carried out to all sub- sections；
It sorts and takes out the smallest sub- section of cost, and the sub- section is labeled as optimal sub- section, and record the optimal sub- road
The identification code of section.
7. Adaptive Path air navigation aid according to claim 6, which is characterized in that the sub- section attribute includes sub- road
Section is with a distance from the destination, the road type in sub- section, traffic information and/or safety coefficient.
8. a kind of Adaptive Path navigation system characterized by comprising
Planning module, for planning the initial best guidance path between departure place and destination；
Search module, the node for searching in the initial best guidance path preset range,
Detection module when for one node of every process, detects whether the node is easy yaw node；If so, searching and marking
The easy optimal sub- section for yawing node to the destination；If it is not, navigation module continues to lead according to initial best guidance path
Boat；It wherein, is a sub- section between two node.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
Adaptive Path air navigation aid described in any one of claims 1 to 7 is realized when row.
10. a kind of terminal characterized by comprising processor and memory；
The memory is used to execute the computer journey of the memory storage for storing computer program, the processor
Sequence, so that the terminal executes the Adaptive Path air navigation aid as described in any one of claims 1 to 7.
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| CN201711174498.3A CN109813323B (en) | 2017-11-22 | 2017-11-22 | Adaptive path navigation method/system, computer readable storage medium and terminal |
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